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<a href="#nested-classes">Classes</a> &#124;
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<p>Class for state lattice planning.  
 <a href="class_state_lattice_planner.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="state__lattice__planner_8h_source.html">state_lattice_planner.h</a>&gt;</code></p>
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Collaboration diagram for StateLatticePlanner:</div>
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<area shape="rect" title="Class for state lattice planning." alt="" coords="5,109,155,136"/>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class for parameters of trajectory sampling.  <a href="class_state_lattice_planner_1_1_sampling_params.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a415bb9043b4a81c3e4e78bb07a2b820a"><td class="memItemLeft" align="right" valign="top"><a id="a415bb9043b4a81c3e4e78bb07a2b820a"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a415bb9043b4a81c3e4e78bb07a2b820a">StateLatticePlanner</a> (void)</td></tr>
<tr class="memdesc:a415bb9043b4a81c3e4e78bb07a2b820a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a415bb9043b4a81c3e4e78bb07a2b820a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5acfc6c6ae5a9c6f96d11d993a9e8eeb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a5acfc6c6ae5a9c6f96d11d993a9e8eeb">set_optimization_params</a> (int, double)</td></tr>
<tr class="memdesc:a5acfc6c6ae5a9c6f96d11d993a9e8eeb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for trajectory optimization.  <a href="class_state_lattice_planner.html#a5acfc6c6ae5a9c6f96d11d993a9e8eeb">More...</a><br /></td></tr>
<tr class="separator:a5acfc6c6ae5a9c6f96d11d993a9e8eeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72f339fca78d67c79f206ba61204c60d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a72f339fca78d67c79f206ba61204c60d">set_sampling_params</a> (const <a class="el" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a> &amp;)</td></tr>
<tr class="memdesc:a72f339fca78d67c79f206ba61204c60d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for trajectory terminal state sampling.  <a href="class_state_lattice_planner.html#a72f339fca78d67c79f206ba61204c60d">More...</a><br /></td></tr>
<tr class="separator:a72f339fca78d67c79f206ba61204c60d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1a3149975689f3aec54607953b2b627"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#ab1a3149975689f3aec54607953b2b627">set_target_velocity</a> (double)</td></tr>
<tr class="memdesc:ab1a3149975689f3aec54607953b2b627"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set target velocity.  <a href="class_state_lattice_planner.html#ab1a3149975689f3aec54607953b2b627">More...</a><br /></td></tr>
<tr class="separator:ab1a3149975689f3aec54607953b2b627"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54f5f9f9e5e7c0f60a2106a08386b960"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a54f5f9f9e5e7c0f60a2106a08386b960">set_motion_params</a> (double, double, double)</td></tr>
<tr class="memdesc:a54f5f9f9e5e7c0f60a2106a08386b960"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set motion parameters.  <a href="class_state_lattice_planner.html#a54f5f9f9e5e7c0f60a2106a08386b960">More...</a><br /></td></tr>
<tr class="separator:a54f5f9f9e5e7c0f60a2106a08386b960"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31764667bbdda9d41a4452b21d90bb18"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a31764667bbdda9d41a4452b21d90bb18">set_vehicle_params</a> (double, double)</td></tr>
<tr class="memdesc:a31764667bbdda9d41a4452b21d90bb18"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set vehicle parameters.  <a href="class_state_lattice_planner.html#a31764667bbdda9d41a4452b21d90bb18">More...</a><br /></td></tr>
<tr class="separator:a31764667bbdda9d41a4452b21d90bb18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e71372452420579a09a79a3616c3a0f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a4e71372452420579a09a79a3616c3a0f">load_lookup_table</a> (const std::string &amp;)</td></tr>
<tr class="memdesc:a4e71372452420579a09a79a3616c3a0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load lookup table from csv.  <a href="class_state_lattice_planner.html#a4e71372452420579a09a79a3616c3a0f">More...</a><br /></td></tr>
<tr class="separator:a4e71372452420579a09a79a3616c3a0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2affac9efcefe926738ab1168476dab"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#ad2affac9efcefe926738ab1168476dab">generate_biased_polar_states</a> (const int, const Eigen::Vector3d &amp;, double, std::vector&lt; Eigen::Vector3d &gt; &amp;)</td></tr>
<tr class="memdesc:ad2affac9efcefe926738ab1168476dab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate biased polar states.  <a href="class_state_lattice_planner.html#ad2affac9efcefe926738ab1168476dab">More...</a><br /></td></tr>
<tr class="separator:ad2affac9efcefe926738ab1168476dab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08ce6c1087bb721aca6e04a1d100b88f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a08ce6c1087bb721aca6e04a1d100b88f">sample_states</a> (const std::vector&lt; double &gt; &amp;, std::vector&lt; Eigen::Vector3d &gt; &amp;)</td></tr>
<tr class="memdesc:a08ce6c1087bb721aca6e04a1d100b88f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sample states from specified angle.  <a href="class_state_lattice_planner.html#a08ce6c1087bb721aca6e04a1d100b88f">More...</a><br /></td></tr>
<tr class="separator:a08ce6c1087bb721aca6e04a1d100b88f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95cb3890365a4a78418adc4a8da274fb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a95cb3890365a4a78418adc4a8da274fb">generate_trajectories</a> (const std::vector&lt; Eigen::Vector3d &gt; &amp;, const double, const double, const double, std::vector&lt; <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &gt; &amp;)</td></tr>
<tr class="memdesc:a95cb3890365a4a78418adc4a8da274fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate trajectories to specified terminal states.  <a href="class_state_lattice_planner.html#a95cb3890365a4a78418adc4a8da274fb">More...</a><br /></td></tr>
<tr class="separator:a95cb3890365a4a78418adc4a8da274fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10fd4844675d818feff72f889fe547ef"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a10fd4844675d818feff72f889fe547ef">pickup_trajectory</a> (const std::vector&lt; <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &gt; &amp;, const Eigen::Vector3d &amp;, <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;)</td></tr>
<tr class="memdesc:a10fd4844675d818feff72f889fe547ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pickup a trajectory to execute from candidates.  <a href="class_state_lattice_planner.html#a10fd4844675d818feff72f889fe547ef">More...</a><br /></td></tr>
<tr class="separator:a10fd4844675d818feff72f889fe547ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39c22c4b3509447d6a28bdbade734e73"><td class="memItemLeft" align="right" valign="top"><a id="a39c22c4b3509447d6a28bdbade734e73"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a39c22c4b3509447d6a28bdbade734e73">load_lookup_table</a> (void)</td></tr>
<tr class="memdesc:a39c22c4b3509447d6a28bdbade734e73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Not implemented. <br /></td></tr>
<tr class="separator:a39c22c4b3509447d6a28bdbade734e73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb619b3b7640607e308ef5b580a5c84a"><td class="memItemLeft" align="right" valign="top"><a id="afb619b3b7640607e308ef5b580a5c84a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#afb619b3b7640607e308ef5b580a5c84a">get_optimized_param_from_lookup_table</a> (const Eigen::Vector3d, const double, const double, <a class="el" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a> &amp;)</td></tr>
<tr class="memdesc:afb619b3b7640607e308ef5b580a5c84a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Not implemented. <br /></td></tr>
<tr class="separator:afb619b3b7640607e308ef5b580a5c84a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2acba3b67661f3f3661039607b07b28"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#ab2acba3b67661f3f3661039607b07b28">get_target_velocity</a> (const Eigen::Vector3d &amp;)</td></tr>
<tr class="memdesc:ab2acba3b67661f3f3661039607b07b28"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get target velocity from goal direction.  <a href="class_state_lattice_planner.html#ab2acba3b67661f3f3661039607b07b28">More...</a><br /></td></tr>
<tr class="separator:ab2acba3b67661f3f3661039607b07b28"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9429deda6c5363ef69794f87e351dfa4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a9429deda6c5363ef69794f87e351dfa4">generate_bresemhams_line</a> (const std::vector&lt; Eigen::Vector3d &gt; &amp;, const double &amp;, std::vector&lt; Eigen::Vector3d &gt; &amp;)</td></tr>
<tr class="memdesc:a9429deda6c5363ef69794f87e351dfa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bresenhams line from given trajectory.  <a href="class_state_lattice_planner.html#a9429deda6c5363ef69794f87e351dfa4">More...</a><br /></td></tr>
<tr class="separator:a9429deda6c5363ef69794f87e351dfa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acdc10a5ab3171d411359e1995b335da1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#acdc10a5ab3171d411359e1995b335da1">check_collision</a> (const <a class="el" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a>&lt; int &gt; &amp;, const std::vector&lt; Eigen::Vector3d &gt; &amp;)</td></tr>
<tr class="memdesc:acdc10a5ab3171d411359e1995b335da1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check collision in the obstacle map.  <a href="class_state_lattice_planner.html#acdc10a5ab3171d411359e1995b335da1">More...</a><br /></td></tr>
<tr class="separator:acdc10a5ab3171d411359e1995b335da1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55052d50c33060be83bf041b37cf422b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a55052d50c33060be83bf041b37cf422b">check_collision</a> (const <a class="el" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a>&lt; int &gt; &amp;, const std::vector&lt; Eigen::Vector3d &gt; &amp;, double)</td></tr>
<tr class="memdesc:a55052d50c33060be83bf041b37cf422b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check collision in the obstacle map. Ignoring obstacles out of range.  <a href="class_state_lattice_planner.html#a55052d50c33060be83bf041b37cf422b">More...</a><br /></td></tr>
<tr class="separator:a55052d50c33060be83bf041b37cf422b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a9c7a5450dcf836eef030d4453c9fa494"><td class="memItemLeft" align="right" valign="top"><a id="a9c7a5450dcf836eef030d4453c9fa494"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>HZ</b></td></tr>
<tr class="separator:a9c7a5450dcf836eef030d4453c9fa494"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a555b6be77c17890102a54dc2af07ba94"><td class="memItemLeft" align="right" valign="top"><a id="a555b6be77c17890102a54dc2af07ba94"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>MAX_ITERATION</b></td></tr>
<tr class="separator:a555b6be77c17890102a54dc2af07ba94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab17c80ffd3adde31d8c0104ce4de32ac"><td class="memItemLeft" align="right" valign="top"><a id="ab17c80ffd3adde31d8c0104ce4de32ac"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>OPTIMIZATION_TOLERANCE</b></td></tr>
<tr class="separator:ab17c80ffd3adde31d8c0104ce4de32ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeba9bc4849be6dfcff069d8f1628e59d"><td class="memItemLeft" align="right" valign="top"><a id="aeba9bc4849be6dfcff069d8f1628e59d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>TARGET_VELOCITY</b></td></tr>
<tr class="separator:aeba9bc4849be6dfcff069d8f1628e59d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53de3e53a3211d502e1b5e3808907a28"><td class="memItemLeft" align="right" valign="top"><a id="a53de3e53a3211d502e1b5e3808907a28"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>MAX_ACCELERATION</b></td></tr>
<tr class="separator:a53de3e53a3211d502e1b5e3808907a28"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa2a752b57468cebb5ae95d9be62950d"><td class="memItemLeft" align="right" valign="top"><a id="afa2a752b57468cebb5ae95d9be62950d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>MAX_YAWRATE</b></td></tr>
<tr class="separator:afa2a752b57468cebb5ae95d9be62950d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ceea16e15b0c9f88705764da76524e9"><td class="memItemLeft" align="right" valign="top"><a id="a7ceea16e15b0c9f88705764da76524e9"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>MAX_D_YAWRATE</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>MAX_WHEEL_ANGULAR_VELOCITY</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>WHEEL_RADIUS</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>TREAD</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a28a8f78a0b869318f47a7acfbfcc531e">VERBOSE</a></td></tr>
<tr class="memdesc:a28a8f78a0b869318f47a7acfbfcc531e"><td class="mdescLeft">&#160;</td><td class="mdescRight">If true, verbosity output is enabled. <br /></td></tr>
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<tr class="memitem:a65159737bd94467ccaa9db536cb7833b"><td class="memItemLeft" align="right" valign="top"><a id="a65159737bd94467ccaa9db536cb7833b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_lattice_planner.html#a65159737bd94467ccaa9db536cb7833b">ENABLE_CONTROL_SPACE_SAMPLING</a></td></tr>
<tr class="memdesc:a65159737bd94467ccaa9db536cb7833b"><td class="mdescLeft">&#160;</td><td class="mdescRight">If true, trajectories sampled in control space are added to the output. <br /></td></tr>
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<tr class="memitem:a26691281c5f5b5bf65e72e2fef416b33"><td class="memItemLeft" align="right" valign="top"><a id="a26691281c5f5b5bf65e72e2fef416b33"></a>
<a class="el" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a>&#160;</td><td class="memItemRight" valign="bottom"><b>sampling_params</b></td></tr>
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LookupTableUtils::LookupTable&#160;</td><td class="memItemRight" valign="bottom"><b>lookup_table</b></td></tr>
<tr class="separator:ae659d7434d761cffdb5cc18d17cbd43a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class for state lattice planning. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="acdc10a5ab3171d411359e1995b335da1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acdc10a5ab3171d411359e1995b335da1">&#9670;&nbsp;</a></span>check_collision() <span class="overload">[1/2]</span></h2>

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          <td class="memname">bool StateLatticePlanner::check_collision </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a>&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>map</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Check collision in the obstacle map. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">map</td><td>Obstacle map </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trajectory</td><td>Trajectory </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">true</td><td>The trajectory collides with an obstacle </td></tr>
    <tr><td class="paramname">false</td><td>The trajectory doesn't collides with an obstacle </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a55052d50c33060be83bf041b37cf422b">&#9670;&nbsp;</a></span>check_collision() <span class="overload">[2/2]</span></h2>

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          <td class="memname">bool StateLatticePlanner::check_collision </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a>&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>map</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>range</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Check collision in the obstacle map. Ignoring obstacles out of range. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">map</td><td>Obstacle map </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">trajectory</td><td>Trajectory </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">range</td><td>Range [m] </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">true</td><td>The trajectory collides with an obstacle </td></tr>
    <tr><td class="paramname">false</td><td>The trajectory doesn't collides with an obstacle </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad2affac9efcefe926738ab1168476dab">&#9670;&nbsp;</a></span>generate_biased_polar_states()</h2>

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          <td class="memname">void StateLatticePlanner::generate_biased_polar_states </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>n_s</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>goal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>target_velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>states</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Generate biased polar states. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">n_s</td><td>Parameter for sampling </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">goal</td><td>Goal pose (x, y, yaw) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_velocity</td><td>Target velocity [m/s] </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">states</td><td>Terminal states </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9429deda6c5363ef69794f87e351dfa4">&#9670;&nbsp;</a></span>generate_bresemhams_line()</h2>

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          <td class="memname">void StateLatticePlanner::generate_bresemhams_line </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>trajectory</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>resolution</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Generate bresenhams line from given trajectory. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">trajectory</td><td>Original trajectory </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">Bresenhams</td><td>line trajectory </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a95cb3890365a4a78418adc4a8da274fb">&#9670;&nbsp;</a></span>generate_trajectories()</h2>

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          <td class="memname">bool StateLatticePlanner::generate_trajectories </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>boundary_states</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>angular_velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>target_velocity</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>trajectories</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Generate trajectories to specified terminal states. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">boudary_states</td><td>Terminal states </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">velocity</td><td>Initial velocity [m/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_velocity</td><td>Initial yawrate [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_velocity</td><td>Target velocity [m/s] </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">trajectories</td><td>Generated trajectories </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ab2acba3b67661f3f3661039607b07b28">&#9670;&nbsp;</a></span>get_target_velocity()</h2>

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          <td class="memname">double StateLatticePlanner::get_target_velocity </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>goal</em></td><td>)</td>
          <td></td>
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<p>Get target velocity from goal direction. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">goal</td><td>Goal pose (x, y, yaw) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Target velocity [m/s] </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a4e71372452420579a09a79a3616c3a0f">&#9670;&nbsp;</a></span>load_lookup_table()</h2>

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          <td class="memname">void StateLatticePlanner::load_lookup_table </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>LOOKUP_TABLE_FILE_NAME</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Load lookup table from csv. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">LOOKUP_TABLE_FILE_NAME</td><td>file path of the lookup table </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a10fd4844675d818feff72f889fe547ef">&#9670;&nbsp;</a></span>pickup_trajectory()</h2>

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          <td class="memname">bool StateLatticePlanner::pickup_trajectory </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>candidate_trajectories</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>goal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Pickup a trajectory to execute from candidates. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">candidate_trajectories</td><td>Candidate trajectories </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">goal</td><td>Goal pose (x, y, yaw) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">output</td><td>The adopted trajectory </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Whether the output trajectory is valid or not </dd></dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">true</td><td>the output trajectory is valid </td></tr>
    <tr><td class="paramname">false</td><td>the output trajectory is invalid </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a08ce6c1087bb721aca6e04a1d100b88f">&#9670;&nbsp;</a></span>sample_states()</h2>

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          <td class="memname">void StateLatticePlanner::sample_states </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>sample_angles</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
          <td class="paramname"><em>states</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Sample states from specified angle. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">sample_angle</td><td>Values between [0, 1] representing angles </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">states</td><td>Terminal states </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a54f5f9f9e5e7c0f60a2106a08386b960">&#9670;&nbsp;</a></span>set_motion_params()</h2>

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          <td class="memname">void StateLatticePlanner::set_motion_params </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_acceleration_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_yawrate_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_d_yawrate_</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Set motion parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_acceleration_</td><td>Maximum linear acceleration [m/ss] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_yawrate_</td><td>Maximum angular velocity [rad/s] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_d_yawrate_</td><td>Maximum angular acceleration [rad/ss] </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5acfc6c6ae5a9c6f96d11d993a9e8eeb">&#9670;&nbsp;</a></span>set_optimization_params()</h2>

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          <td class="memname">void StateLatticePlanner::set_optimization_params </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>max_iteration_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>tolerance_</em>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
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<p>Set parameters for trajectory optimization. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_iteration_</td><td>Maximum number of iteration for trajectory optimization </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tolerance_</td><td>If the cost of the optimization is less than this value, it is considered converged </td></tr>
  </table>
  </dd>
</dl>

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<a id="a72f339fca78d67c79f206ba61204c60d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a72f339fca78d67c79f206ba61204c60d">&#9670;&nbsp;</a></span>set_sampling_params()</h2>

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      <table class="memname">
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          <td class="memname">void StateLatticePlanner::set_sampling_params </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a> &amp;&#160;</td>
          <td class="paramname"><em>sampling_params_</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set parameters for trajectory terminal state sampling. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">sampling_params_</td><td>Parameters for trajectory terminal state sampling </td></tr>
  </table>
  </dd>
</dl>

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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab1a3149975689f3aec54607953b2b627">&#9670;&nbsp;</a></span>set_target_velocity()</h2>

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          <td class="memname">void StateLatticePlanner::set_target_velocity </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>v</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set target velocity. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">v</td><td>Target velocity [m/s] </td></tr>
  </table>
  </dd>
</dl>

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<a id="a31764667bbdda9d41a4452b21d90bb18"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a31764667bbdda9d41a4452b21d90bb18">&#9670;&nbsp;</a></span>set_vehicle_params()</h2>

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        <tr>
          <td class="memname">void StateLatticePlanner::set_vehicle_params </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>wheel_radius_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>tread_</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Set vehicle parameters. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">wheel_radius_</td><td>Wheel radius [m] </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tread_</td><td>Tread [m] </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/state_lattice_planner/<a class="el" href="state__lattice__planner_8h_source.html">state_lattice_planner.h</a></li>
<li>src/<a class="el" href="state__lattice__planner_8cpp.html">state_lattice_planner.cpp</a></li>
</ul>
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